| --- |
| license: apache-2.0 |
| tags: |
| - robotics |
| - lerobot |
| - grounding |
| --- |
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| # Deconfounded object-identity set (LIBERO) |
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| > Part of the [Galahad](https://huggingface.co/phi-monster/Galahad) release · [Project page](https://xn--7xa.monster/Galahad/) · [Code + battery + generator](https://github.com/phi-monster/Galahad) |
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| 900 episodes, 90 per object across all 10 LIBERO objects, perfect role balance: every object appears as the target and as a distractor across randomized positions, so **the instruction is the only predictor of the target**. The training set behind the object-substitution cure (base 13.5% → 94.5%). |
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| LeRobot v3 format. Generated by the deconfounding generators in the release repo; the generator produces the exam (the battery) and the medicine (the training set) from the same code. |
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